LSIS XDL-L7NH Series, User Manual

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7. Tuning
7-1
7.
Tuning
The drive is set to the torque control, the speed control, or the position control mode for use, depending
on the method to connect with the upper level controller. This drive is structured so that the position
control is located at the outermost while the current control at the innermost, forming a cascade style
control structure. Depending on the operation mode of the drive, you can tune the operation by setting
the gain-related parameters of the torque controller, the speed controller, and the position controller, to
satisfy your purpose.
7.1
Off-line Auto Gain Tuning
Use the command generated by the drive itself to automatically set the gain according to the load
condition. The following gain-related parameters will be changed:

Inertia ratio, position loop gain, speed loop gain, speed integral time constant, torque command
filter time constant, notch filter 3 frequency, and notch filter 4 frequency.
The entire gain is set higher or lower depending on the system rigidity setting (0x250E) during gain
tuning. Set the appropriate value depending on the rigidity of the load.
As shown in the figure below, sinusoidal-type command is generated in the forward or reverse direction
according to the offline gain tuning direction (0x2510) setting. You can set the movement distance for
tuning with the offline gain tuning distance (0x2511). The larger the setting value is, the longer the
movement distance becomes. Set the distance appropriately for the case. Make sure to secure enough
distance (more than one revolution of motor) prior to gain tuning.
Encoder
Moving
distance
Position
command
Speed
command
Torque
command
Voltage
command
Power
circuit
Current feedback
Position feedback
Position
control
operation Speed
control
operation Torque
control
operation
Motor
Tuning direction = 0
(positive)
Tuning direction = 1
(negative)
Offline gain tuning
distance (0x2511)
Time
Response
Command